Primary preview region and gaze based driver distraction detection

ABSTRACT

A computer-implemented method of detecting distracted driving comprises: determining, by one or more processors, a primary preview region (PPR) in a representation of an environment; determining, by the one or more processors, a gaze point for a driver based on a sequence of images of the driver; determining, by the one or more processors, that the gaze point is outside of the PPR; based on the determined gaze point being outside of the PPR, decreasing, by the one or more processors, an attention level for the PPR; based on the attention level for the PPR, generating, by the one or more processors, an alert.

CLAIM OF PRIORITY

This application is a divisional of and claims the benefit of priorityto U.S. application Ser. No. 15/882,581, filed 29 Jan. 2018, whichapplication is incorporated by reference as if reproduced herein andmade a part hereof in its entirety, and the benefit of priority of whichis claimed herein.

TECHNICAL FIELD

The present disclosure is related to gaze detection and, in oneparticular embodiment, to primary preview region and gaze based driverdistraction detection.

BACKGROUND

Many accidents are caused by distracted drivers paying insufficientattention to the road and obstacles. These distracted-driving accidentscause substantial loss of lives as well as economic harm. In the UnitedStates, accidents are the fourth-leading cause of death.

SUMMARY

Various examples are now described to introduce a selection of conceptsin a simplified form that are further described below in the DetailedDescription. The Summary is not intended to identify key or essentialfeatures of the claimed subject matter, nor is it intended to be used tolimit the scope of the claimed subject matter.

According to one aspect of the present disclosure, there is provided acomputer-implemented method of detecting distracted driving thatcomprises: determining, by one or more processors, a primary previewregion (PPR) in a representation of an environment; determining, by theone or more processors, a gaze point for a driver based on a sequence ofimages of the driver; determining, by the one or more processors, thatthe gaze point is outside of the PPR; based on the determined gaze pointbeing outside of the PPR, decreasing, by the one or more processors, anattention level for the PPR; based on the attention level for the PPR,generating, by the one or more processors, an alert.

Optionally, in any of the preceding embodiments, the method furthercomprises: determining a second gaze point for the driver based on asecond sequence of images of the driver; and based on the second gazepoint being inside of the PPR, increasing the attention level for thePPR.

Optionally, in any of the preceding embodiments, the decreasing of theattention level for the PPR comprises determining the attention levelusing a logistic decay function.

Optionally, in any of the preceding embodiments, the PPR is a first PPRand is one of a plurality of PPRs, each PPR of the plurality of PPRshaving a corresponding attention level; the generating of the alert isfurther based on the attention level for each PPR of the plurality ofPPRs; and the method further comprises: estimating a future path usingvehicle and road information; determining that the first PPR is notalong the future path; and based on the determination that the first PPRis not along the future path, removing the first PPR from the pluralityof PPRs.

Optionally, in any of the preceding embodiments, the method furthercomprises: determining a priority score for each PPR of the plurality ofPPRs; and wherein the attention level for each PPR of the plurality ofPPRs is based on the priority score for the PPR.

Optionally, in any of the preceding embodiments, the method furthercomprises: identifying, by one or more processors, an object depicted inthe representation of the environment; and wherein the determining ofthe PPR comprises determining the PPR for the object.

Optionally, in any of the preceding embodiments, the determining of thePPR for the object comprises determining a velocity of the object.

Optionally, in any of the preceding embodiments, the identifying of theobject depicted in the image of the environment comprises analyzing theimage with a trained machine-learning algorithm.

Optionally, in any of the preceding embodiments, the determining of thePPR comprises: determining a primary preview point (PPP); anddetermining the PPR based on the PPP and a predetermined radius.

Optionally, in any of the preceding embodiments, the representation ofthe environment is generated by an infrared (IR) camera.

Optionally, in any of the preceding embodiments, the determining of thePPR in the representation of the environment comprises identifying alane of a road.

Optionally, in any of the preceding embodiments, the representation ofthe environment is generated by a laser scanner.

Optionally, in any of the preceding embodiments, the generating of thealert comprises generating an audio alert.

Optionally, in any of the preceding embodiments, the generating of thealert comprises generating a haptic alert.

Optionally, in any of the preceding embodiments, the generating of thealert comprises activating brakes of a vehicle.

Optionally, in any of the preceding embodiments, the generating of thealert comprises altering a direction of a vehicle.

Optionally, in any of the preceding embodiments, the determining of theattention level for the PPR is based on a profile of the driver.

Optionally, in any of the preceding embodiments, the generating of thealert is further based on a predetermined threshold.

According to one aspect of the present disclosure, there is provided asystem for detecting distracted driving that comprises: a memory storagecomprising instructions; and one or more processors in communicationwith the memory, wherein the one or more processors execute theinstructions to perform: determining a primary preview region (PPR) in arepresentation of an environment; determining a gaze point for a driverbased on a sequence of images of the driver; determining that the gazepoint is outside of the PPR; based on the determined gaze point beingoutside of the PPR, decreasing an attention level for the PPR; and basedon the attention level for the PPR, generating an alert.

According to one aspect of the present disclosure, there is provided anon-transitory computer-readable medium that stores computerinstructions for detecting distracted driving, that when executed by oneor more processors, cause the one or more processors to perform stepsof: determining a primary preview region (PPR) in a representation of anenvironment; determining a gaze point for a driver based on a sequenceof images of the driver; determining that the gaze point is outside ofthe PPR; based on the determined gaze point being outside of the PPR,decreasing an attention level for the PPR; and based on the attentionlevel for the PPR, generating an alert.

Any one of the foregoing examples may be combined with any one or moreof the other foregoing examples to create a new embodiment within thescope of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of a vehicle interior, according to someexample embodiments.

FIG. 2 is an illustration of a vehicle exterior, according to someexample embodiments.

FIG. 3 is an illustration of an example gaze detection point of adriver's gaze through a windshield, according to some exampleembodiments.

FIG. 4 is an illustration of some example primary preview points,according to some example embodiments.

FIG. 5 is an illustration of some example primary preview points,according to some example embodiments.

FIG. 6 is an illustration of some example primary preview points,according to some example embodiments.

FIG. 7 is an illustration of graphs of an attention function, accordingto some example embodiments.

FIG. 8 is a block diagram illustrating circuitry for a device thatimplements algorithms and perform methods, according to some exampleembodiments.

FIG. 9 is a block diagram illustrating a database schema suitable forgaze-based driver detection using primary preview regions, according tosome example embodiments.

FIG. 10 is a flowchart illustration of a method of gaze-based driverdetection using primary preview regions, according to some exampleembodiments.

FIG. 11 is a flowchart illustration of a method of gaze-based driverdetection using primary preview regions, according to some exampleembodiments.

FIG. 12 is a flowchart illustration of a method of gaze-based driverdetection using primary preview regions, according to some exampleembodiments.

FIG. 13 is a flowchart illustration of a method of transferring controlof an automated vehicle to a human driver, according to some exampleembodiments.

DETAILED DESCRIPTION

In the following description, reference is made to the accompanyingdrawings that form a part hereof, and in which are shown, by way ofillustration, specific embodiments which may be practiced. Theseembodiments are described in sufficient detail to enable those skilledin the art to practice the inventive subject matter, and it is to beunderstood that other embodiments may be utilized and that structural,logical, and electrical changes may be made without departing from thescope of the present disclosure. The following description of exampleembodiments is, therefore, not to be taken in a limiting sense, and thescope of the present disclosure is defined by the appended claims.

The functions or algorithms described herein may be implemented insoftware, in one embodiment. The software may consist ofcomputer-executable instructions stored on computer-readable media or acomputer-readable storage device such as one or more non-transitorymemories or other types of hardware-based storage devices, either localor networked. The software may be executed on a digital signalprocessor, application-specific integrated circuit (ASIC), programmabledata plane chip, field-programmable gate array (FPGA), microprocessor,or other type of processor operating on a computer system, turning sucha computer system into a specifically programmed machine. The computersystem may be integrated into a vehicle.

A vehicle may include one or more external cameras that capture imagesof the environment of the vehicle. The cameras may be visible-lightcameras, infrared (IR) cameras, laser scanners, or any suitablecombination thereof. The captured images may be converted to athree-dimensional (3D) representation of the environment or processed asa two-dimensional (2D) representation of the environment.

The representation of the environment is analyzed (e.g., by a trainedmachine learning algorithm) to identify one or more primary previewpoints (PPPs) or primary preview regions (PPRs). A PPP is a particularpoint to which the driver should pay attention. A PPR is a region towhich the driver should pay attention. A PPP may be located within acorresponding PPR. The term PPR will be used herein to discuss both PPPsand PPRs, unless otherwise noted. PPRs may be identified for any object(e.g., a vehicle, animal, pedestrian, sign, pothole, bump, cone, orfallen tree), region (e.g., a vanishing point of a lane, or a curve in aroad), or situation (e.g., an accident, a mudslide, or flooding) that adriver should pay attention to.

The vehicle may also include a driver-facing camera that captures imagesof the driver. Using the captured images of the driver in conjunctionwith the captured images of the environment, a gaze detection systemdetermines a focus point of the driver. The focus point of the driver iscompared to each of the PPRs to determine if the driver is focusing onthe PPP or PPR.

An attention level may be generated for each PPR that indicates a degreeof attention being paid to the PPR. During time periods in which thedriver's focus is on the PPR, the attention level for the PPR isincreased. During time periods in which the driver's focus is not on thePPR, the attention level for the PPR is decreased. If the attentionlevel for the PPR falls below a predetermined threshold, an alert isgenerated. Example alerts include highlighting the PPR on a heads-updisplay (HUD) of the vehicle, a visual alert in the form of a flashinglight, providing haptic feedback via a steering wheel, providing anaudio alert, automatically engaging brakes, automatically steering thevehicle to avoid the ignored PPR, parking the vehicle, or any suitablecombination thereof.

By use of the systems and methods described herein, a vehicle may alerta distracted driver to an object, region, or situation that the driverotherwise would have failed to see and react to. By virtue of the alert,the distracted driver may react to the object, region, or situation andavert an accident. Accordingly, use of the systems and methods describedherein improves vehicle safety.

FIG. 1 is an illustration of a vehicle interior 100, according to someexample embodiments. Shown in the vehicle interior 100 is anillustration of a driver 110, a seat 120, light sources 130A and 130B,and a camera 140. The light sources 130A-130B and the camera 140 may becontrolled by a computer system such as that described below withrespect to FIG. 8.

The light sources 130A-130B may be near infrared (IR) light sources. Thecamera 140 may be receptive to wavelengths of light provided by thelight sources 130A-130B (e.g., near IR) and be focused on the driver110. Images captured by the camera 140 may be used to determine thedirection and focus depth of the eyes of the driver 110 based on glintsgenerated by the light generated by the light sources 130A-130Breflecting off of the surface of the eyes of the driver 110. Headpose,the orientation of the driver's head, may also be determined from imagescaptured by the camera 140 and used in determining the direction andfocus depth of the driver's gaze. Additionally, the camera 140 maydetect hand gestures by the driver 110.

The camera 140 may comprise a depth camera that captures stereoscopicimages to determine distance of objects from the camera. For example,two near IR image sensors may be used to determine a three-dimensionalheadpose or to detect a gesture that involves moving toward or away fromthe camera 140. As another example, a time-of-flight camera may becoordinated with the light sources 130A and 130B and determine depthbased on the amount of time between emission of light from a lightsource and receipt of the light (after reflection from an object) at thetime-of-flight camera.

FIG. 2 is an illustration 200 of a vehicle exterior, according to someexample embodiments. The illustration 200 includes the vehicle 210 andthe camera 220. The camera 220 is mounted on the roof of the vehicle 210and may be a second camera controlled by the same system controlling thefirst camera, the camera 140 of FIG. 1. The camera 220 may be awide-angle camera, a 360 degree camera, a rotating camera, or anysuitable combination thereof. The camera 220 may be integrated into thevehicle 210 (e.g., sold by the manufacturer as part of the vehicle 210and permanently attached to the rest of the vehicle 210), securelymounted to the vehicle 210 (e.g., by bolts or screws), or temporarilyattached to the vehicle 210 (e.g., by being placed in a holder on adashboard). The vehicle 210 is an automobile, but the invention is notso limited and may be used with other vehicles such as aircraft,watercraft, or trains.

FIG. 3 is an illustration of an example gaze detection point 330 of adriver's gaze through a windshield 310, according to some exampleembodiments. Also shown in FIG. 3 is the driver-facing camera 140.

The driver-facing camera 140 captures one or more images of the driverof a vehicle. For each captured image, the driver's eyes are identifiedand a focus point of the driver's gaze is determined. The focus point isa point in three-dimensional space. For example, an angle between thelocation of a pupil and a centerline of an eye may be determined foreach eye. Rays may be traced from the center of each eye through thepupil to determine an intersection point of the focus of the two eyes. Arepresentation of the environment of the vehicle may be compared withthe intersection point to determine the position of the gaze detectionpoint 330 in the environment.

When the representation of the environment is a 2D representation, suchas a 2D image captured by the camera 220, the gaze detection point 330may be determined by projecting a 3D gaze angle to the 2D image based oncamera calibration. The camera calibration aligns the coordinate systemof the camera that captures the driver's face (e.g., the camera 140)with the coordinate system of the camera that captures the environment(e.g., the camera 220). Camera calibration may be performed by askingthe driver to focus on known points and using the measurements of thedriver's gaze to update the calibration values. For example, the centerof the steering wheel, the corners of the windshield, and the rear-viewmirror may be used as known points.

FIG. 4 is an illustration of some example primary preview points,according to some example embodiments. Shown in FIG. 4 are images 410,420, and 440 and PPPs 430 and 450. The images 410, 420, and 440 may becaptured by one or more cameras integrated into the driver's vehicle.For example, the images may be captured by a single forward-facingcamera integrated into the vehicle, a rotating camera mounted to theroof of the vehicle, a laser scanner integrated into the vehicle, or anysuitable combination thereof. Alternatively, the images 410, 420, and440 may be captured by an external camera and transmitted to the vehicle(e.g., via a Wi-Fi or cellular network). For example, buildings or lightpoles may have fixed cameras mounted to them to provide environmentalimages to all vehicles using the road. As another example, satelliteimagery may be used.

Each of the images 410, 420, and 440 is a 2D representation of theenvironment of the vehicle. In some example embodiments, 3Drepresentations of the environment are used. A 3D representation may begenerated from a plurality of 2D images that capture a scene fromdifferent angles. Alternatively, a 3D representation may be generatedfrom a 2D image in combination with a depth image. In some exampleembodiments, the vehicle is a virtual vehicle (e.g., in a virtualreality (VR) simulation) and a 3D representation of the environment isgenerated from the VR environment of the virtual vehicle.

The image 410 shows a road edge and four lane dividers. The image 420shows the road edge and four lane dividers after the image 410 has beenmodified to extend two lane dividers of the vehicle's lane until theyconverge. The point at which the boundaries of the vehicle's lane meetis marked as PPP 430. This is referred to as a convergence point PPP.The convergence point PPP may be expanded by 1-2 degrees of arc of thedriver's vision to generate a corresponding PPR.

The image 440 shows the road edge and four lane dividers after the image410 has been modified to extend the road edge and lane dividers untilthey converge. The point of convergence is marked as PPP 450. The PPP450 may be the same as the PPP 430. Alternatively, the multiple linesgenerated may not meet at a single point and the PPP 450 may be taken asthe geometric average of the multiple convergence points. The PPPs 430and 450 correspond to the current path of the vehicle.

The road edge and lane dividers of the images 410, 420, and 440 may beidentified by a convolutional neural network (CNN) that detects lines inimages. Based on the road edge and lane dividers, one or more lanes ofthe road may be identified, including the lane of the road occupied bythe driver's vehicle. The PPPs 430 and 450 may be identified using ageometric algorithm that extends lines to determine intersection points.

FIG. 5 is an illustration of some example primary preview points,according to some example embodiments. Shown in FIG. 5 are images 510,540, and 560 and PPPs 520, 530, 550 and 570.

The image 510 shows a curving road with PPPs 520 and 530. The PPPs 520and 530 are curve point PPPs that indicate points on the road to whichattention should be paid to enable the driver to steer properly throughthe curve. The curve point PPP may be the center of a curving lane atthe point at which the tangent of the curve is parallel to the directionof motion of the vehicle. The curve point PPP may be expanded by 1-2degrees of arc of the driver's vision to generate a corresponding PPR(e.g., an elliptical or circular PPR).

The image 540 shows the curving road with a PPP 550. The PPP 550 is anobject PPP that indicates a car in front of the vehicle to whichattention should be paid to enable the driver to avoid collision withthe vehicle. The object PPP may be at the center of the object. Theobject PPR may be expanded from the object PPP (e.g., in an ellipse orcircle), or a bounding box (e.g., a rectangular bounding box) of theobject may be used as the object PPR. The image 560 shows the curvingroad with a PPP 570. The PPP 570 is an object PPP that indicates anelephant in front of the vehicle.

The PPPs 520, 530, 550, and 570 may be identified through the use of atrained machine-learning algorithm (e.g., implemented using a CNN). Forexample, a set of training data including images of different types ofobjects and their labels may be provided to a machine-learning algorithmto train the machine-learning algorithm to identify objects and theirlocations in images. Images of an environment of a vehicle may beprovided to the trained machine-learning algorithm, which generates anoutput that identifies the types of objects depicted and theirlocations. A PPP selection algorithm may identify a PPP for identifiedobjects based on their type and location. For example, the PPP for a carmay be placed at the center of the depiction of the car while the PPPfor a donkey may be placed at the depiction of the donkey's head.

FIG. 6 is an illustration of some example primary preview points,according to some example embodiments. Shown in FIG. 6 are images 610and 630 as well as PPPs 620 and 640. The PPPs 620 and 640 may beidentified through the use of a trained machine-learning algorithm.

The image 610 shows the road of the image 410 with the addition of a carmerging or crossing the road. The PPP 620 is a merging object PPP thatindicates an object that is moving into the path of the vehicle. Themerging object PPP may be at the center of the object, at the point ofthe object nearest to the path of the vehicle, or at a position betweenthe two (as shown by the PPP 620). The merging object PPR may beexpanded from the merging object PPP (e.g., by 1-2 degrees of arc of thedriver's vision), or a bounding box of the merging object may be used asthe merging object PPR.

The image 630 shows the road of the image 410 with the addition of acamel merging into the vehicle's lane or crossing the road. The PPP 640,like the PPP 620, is a merging object PPP.

The PPPs 620 and 640 may be determined based on multiple images of theenvironment of the vehicle. For example, individual images may show anobject at a location, and the velocity of the object may be determinedfrom a sequence of images. The location of the PPP within the boundingbox of the object may be selected based on the velocity of the object.For example, the PPP for a stationary object may be located at thecenter of the bounding box, while the PPP for a fast-moving object maybe located at the edge of the bounding box in the direction of movement.

The shape and size of each of the above PPRs may be determined based ona type of the PPP (e.g., a curve point PPP, a convergence PPP, an objectPPP, a merging object PPP), a size of the object, a distance of the PPPfrom the vehicle, a present speed of the vehicle, a driver attribute, orany suitable combination thereof. The PPR may be centered around the PPPor shifted by an offset. For example, a PPR may be shifted away from ortoward neighboring PPPs, shifted toward or away from neighboring lanes,or any suitable combination thereof.

Based on identification of the object, a corresponding secondary previewpoint (SPP) or secondary preview region (SPR) may be identified insteadof a PPP or PPR. For example, a database table may map object types topriority scores (e.g., in the range 1-10). For objects having a priorityscore at or above a predetermined threshold (e.g., 7), detection of theobject may result in a PPP or PPR. For objects having an priority scorebelow the predetermined threshold, detection of the object may result inan SPP or SPR. Examples of objects that may be associated with priorityscores below the threshold include surrounding traffic, roadsideobjects, and traffic signs along the road side. The SPPs and SPRs maynot present an immediate impact to the ongoing driving process. SuchSPPs and SPRs are not included in the distraction detection proceduresince the driver is not required to pay attention to such objects.

In some example embodiments, the SPPs and SPRs are utilized forevaluation of driver's attention level. Sufficient attention given bythe driver to SPRs and SPPs indicates a satisfactory attention level.For instance, tired and fatigued drivers pay less attention to suchsecondary objects whereas fully attentive drivers maintain higher levelsof situational awareness of all surrounding objects including the SPRsand SPPs. Accordingly, failure to monitor SPPs and SPRs may be used tomodify driver-specific parameters to the attention function discussedbelow with respect to FIG. 7.

FIG. 7 is an illustration of graphs 700 and 750 of an attentionfunction, according to some example embodiments. The graph 700 shows anattention level 740 for a PPR as a function of time. In someembodiments, a representation of a PPR may be created when a PPP isdetected, as discussed above. The representation of the PPR may beassociated with an attention function or another mechanism to determinea current attention level of the PPR at any point in time. The attentionlevel may depend on (or relate to) a sequence of gaze points,dynamically changing environmental factors, or any suitable combinationthereof. The environmental factors may be used as parameters of theattention function.

The attention level 710 is a maximum attention level and the attentionlevel 720 is a predetermined threshold below which the attention level740 should not fall. At any time t, the decaying rate is the derivativeof the attention level 740 function at time t, as shown by the decayingrate 730. The graph 750 shows an attention level 760 for a PPR as afunction of time. The graph 750 includes the attention levels 710 and720 as well as a time 770 at which the driver begins paying attention tothe PPR.

In the graphs 700 and 750, the attention level functions are non-linear,with the decaying rate increasing as the driver continues to not payattention to the PPR. In some example embodiments, the attention levelfunction is a logistic decay function. An example logistic decayfunction is:

$\begin{matrix}{S_{v} = {{S_{v}\left( t_{0} \right)}e^{- \frac{p\; k{e_{g}}{({t - t_{0}})}}{d_{0}d_{1}t_{A}}}}} & {{Equation}\mspace{14mu} 1}\end{matrix}$

In equation 1, the initial value, S_(v)(t₀) is the attention level atthe time at which the driver's gaze was no longer in the PPR. In someexample embodiments, S_(v) is initialized to 1 when the PPR is created,to is the time at which the gaze left the PPR (e.g. according tosuccessive detections related to the PPR at two time instances ti andto, the gaze identified to be inside PPR at ti and outside PPR at to), pis the priority score of the PPR, e_(g) is the deviation between thepresent gaze position and the PPR, k is a scaling factor with respect tolane deviation and vehicle stability margin, do is an impressiondecaying factor that is associated with the driver, di is a scenecomplexity parameter based on environmental conditions, and to is apreview time scaling variable. In some example embodiments, k, do, anddi are equal to 1.

The preview time scaling variable may be defined as the minimum oft_(TTR), t_(TTC), t_(TTG), t_(p), where t_(TTR) (time to reach) is thetime to reach the future PPP based on the relative position and motionof the vehicle and the PPP, t_(TTC) (time to cross) is the time for thePPP to reach the lane of the vehicle, t_(TTG) (time to go) is predictedtime when the vehicle will accelerate (e.g., after stopping for a stopsign or light), and t_(p) (time to preview) is a preview time constantbased on the driver's characteristics.

In some example embodiments, an inexperienced driver has a larger valuefor do than an experienced driver. The value for di may be increasedwhen one or more high-velocity (e.g., with velocity exceeding 50 milesper hour) objects are present or when the driver is found to be ignoringSPPs and SPRs.

The value of k may be object-specific based on a priority assigned tothe PPP. For example, a priority may be assigned to each PPP based ondistance from the vehicle, such that PPPs nearer to the vehicle have ahigher priority

In the graph 700, the attention level 740 decays while the driver doesnot focus on the PPR until it reaches 0. When the attention level 740crosses the attention level 520, an alert is generated.

In the graph 750, the attention level 760 decays while the driver doesnot focus on the PPR until time 770, when the driver's attentionreturns. After time 770, the attention level 760 increases until itreaches the maximum attention level 710. Since the attention level 760never reaches the attention level 720, no alert is generated.

Once the driver's gaze goes inside a PPR, S_(v) starts recovering backto 1 following a recovering function. The recovering rate is slowinitially. But S_(v) can recover sharply once driver's gaze resides inthe PPR for a minimal period of time. The attention level recovery ratecan be designed with a recovery function similar to the decayingfunction but with a positive increasing rate. An example recoveringfunction is a logistic growing function:

$\begin{matrix}{S_{v} = {1 + {\left( {{S_{v}\left( t_{0} \right)} - 1} \right)e^{- \frac{c{p{({t - t_{0}})}}}{d_{0}d_{1}t_{p}}}}}} & {{Equation}\mspace{14mu} 2}\end{matrix}$

Equation 2 uses the same constants and variables as equation 1, but toof the recovering function is the time at which the driver's gazereturns to the PPR, c is a scaling factor for the recovering function,which may be the same as or different from the scaling factor k used forthe decay function, and p is a priority score of the PPR. Over a periodof time in which the driver's attention is divided between PPRs, theattention level for each PPR will be adjusted by alternating betweenapplication of the decay function (while the driver's gaze is outside ofthe PPR) and the recovering function (while the driver's gaze is in thePPR).

The two equations above include parameters such as k, the scaling factorwith respect to lane deviation and vehicle stability margin, do, theimpression decaying factor that is associated with the driver, di, thescene complexity parameter based on environmental conditions, and t_(A),the preview time scaling variable. In some example embodiments, one ormore of these parameters is used to determine a dynamic threshold forgenerating an alert. For example, the threshold for generating an alertmay be higher for a poorer driver (as measured by di) or in aless-stable vehicle (as measured by k).

FIG. 8 is a block diagram illustrating circuitry for implementingalgorithms and performing methods, according to example embodiments. Allcomponents need not be used in various embodiments. For example,clients, servers, autonomous systems, network devices, and cloud-basednetwork resources may each use a different set of components, or, in thecase of servers for example, larger storage devices.

One example computing device in the form of a network device 800 (alsoreferred to as a computer 800, a computing device 800, and a computersystem 800) may include a processor 805, memory storage 810, removablestorage 815, and non-removable storage 820, all connected by a bus 840.Although the example computing device is illustrated and described asthe computer 800, the computing device may be in different forms indifferent embodiments. For example, the computing device may instead bea smartphone, a tablet, a smartwatch, or another computing deviceincluding elements the same as or similar to those illustrated anddescribed with regard to FIG. 8. Devices such as smartphones, tablets,and smartwatches are generally collectively referred to as “mobiledevices” or “user equipment.” Further, although the various data storageelements are illustrated as part of the computer 800, the storage mayalso or alternatively include cloud-based storage accessible via anetwork, such as the Internet, or server-based storage.

The memory storage 810 may include volatile memory 845 and non-volatilememory 850, and may store a program 855. The computer 800 may include,or have access to a computing environment that includes, a variety ofcomputer-readable media, such as the volatile memory 845, thenon-volatile memory 850, the removable storage 815, and thenon-removable storage 820. Computer storage includes random-accessmemory (RAM), read-only memory (ROM), erasable programmable read-onlymemory (EPROM) and electrically erasable programmable read-only memory(EEPROM), flash memory or other memory technologies, compact discread-only memory (CD ROM), digital versatile disks (DVD) or otheroptical disk storage, magnetic cassettes, magnetic tape, magnetic diskstorage or other magnetic storage devices, or any other medium capableof storing computer-readable instructions.

The computer 800 may include or have access to a computing environmentthat includes an input interface 825, an output interface 830, and acommunication interface 835. The output interface 830 may interface toor include a display device, such as a touchscreen, that also may serveas an input device. The input interface 825 may interface to or includeone or more of a touchscreen, a touchpad, a mouse, a keyboard, a camera,one or more device-specific buttons, one or more sensors integratedwithin or coupled via wired or wireless data connections to the computer800, and other input devices. The computer 800 may operate in anetworked environment using the communication interface 835 to connectto one or more remote computers, such as database servers. The remotecomputer may include a personal computer (PC), server, router, switch,network PC, peer device or other common network node, or the like. Thecommunication interface 835 may connect to a local-area network (LAN), awide-area network (WAN), a cellular network, a WiFi network, a Bluetoothnetwork, or other networks.

Though the computer 800 is shown as having a single one of each element805-865, multiples of each element may be present. For example, multipleprocessors 805, multiple input interfaces 825, multiple outputinterfaces 830, and multiple communication interfaces 835 may bepresent. In some example embodiments, different communication interfaces835 are connected to different networks.

Computer-readable instructions stored on a computer-readable medium(e.g., the program 855 stored in the memory storage 810) are executableby the processor 805 of the computer 800. A hard drive, CD-ROM, and RAMare some examples of articles including a non-transitorycomputer-readable medium such as a storage device. The terms“computer-readable medium” and “storage device” do not include carrierwaves to the extent that carrier waves are deemed too transitory.“Computer-readable non-transitory media” includes all types ofcomputer-readable media, including magnetic storage media, opticalstorage media, flash media, and solid-state storage media. It should beunderstood that software can be installed in and sold with a computer.Alternatively, the software can be obtained and loaded into thecomputer, including obtaining the software through a physical medium ordistribution system, including, for example, from a server owned by thesoftware creator or from a server not owned but used by the softwarecreator. The software can be stored on a server for distribution overthe Internet, for example.

The program 855 is shown as including a gaze detection module 860, a PPRdetection module 865, an attention analysis module 870, and a controltransfer module 875. Any one or more of the modules described herein maybe implemented using hardware (e.g., a processor of a machine, an ASIC,an FPGA, or any suitable combination thereof). Moreover, any two or moreof these modules may be combined into a single module, and the functionsdescribed herein for a single module may be subdivided among multiplemodules. Furthermore, according to various example embodiments, modulesdescribed herein as being implemented within a single machine, database,or device may be distributed across multiple machines, databases, ordevices.

The gaze detection module 860 processes one or more images of the faceof a driver of a vehicle to determine the gaze of the driver. The imagesof the face of the driver may be received via the input interface 825from the driver-facing camera 120. Existing methods for determining agaze estimation point in two-dimensional or three-dimensional space maybe used to determine the driver's gaze. For example, a ray may bedetermined for each eye that has its origin in the center of the eye andpasses through the pupil of the eye. The point at which the raysintersect is the driver's three-dimensional gaze point. To determine thetwo-dimensional gaze point, a ray is generated with its origin at themidpoint between the two eyes and terminating at the three-dimensionalgaze point. The intersection of this ray with a two-dimensionalprojection of an image of an environment is the driver's two-dimensionalgaze point.

The PPR detection module 865 processes one or more representations of anenvironment of a vehicle to identify PPRs. For example, images of theenvironment may be received via the input interface 825 from one or moreexterior-facing cameras or 3D representations of the environment may begenerated based on the images received from the exterior-facing cameras.Objects in the representation of the environment can appear anddisappear from time to time. They may also vary in appearance (e.g.,size and position). In order to determine that an object in a currentrepresentation of the environment is the same object as in a previousrepresentation of the environment, object tracking is used. First,objects are detected in each representation of the environment isreceived. Second, through position and motion continuity conditions,objects are tracked in the temporal domain to associate a detectedobject in the current representation of the environment to the previousinstances of the same object Kalman filter and object tracking algorithm(like DSST) are typically used. Features can also be used to associateand recognize object through online learning. For example, since a newobject can appear only from a scene boundary or from certain occludedimage regions, any recognized object that is not adjacent to a boundaryor occluded image region should have a corresponding object in theprevious representation of the environment. A new object cannot beassociated to any of the previous observed objects and will beclassified and registered in the distraction detection algorithm.Similarly, an existing PPP-associated object can only disappear via ascene boundary or by occlusion. After a certain predetermined period oftime (e.g., 30 seconds), an object that disappears will be removed fromthe object registration list. Accordingly, the associated PPR of theobject, if any, will be deleted.

The attention analysis module 870 compares the detected gaze of thedriver to the PPRs to determine if the driver is paying sufficientattention to each PPR. If the attention level for one or more PPRs dropsbelow a predetermined threshold, the attention analysis module 870causes an alert to be generated. For example, the output interface 830may trigger a speaker in the vehicle to make an audible alert or ahaptic feedback device in a steering wheel to vibrate.

The control transfer module 875 transfers control of an automatedvehicle between computer and human control. The control transfer module875 may confirm, via the attention analysis module 870, that a humandriver is paying sufficient attention to all PPRs before transferringcontrol.

FIG. 9 is a block diagram illustrating a database schema 900 suitablefor gaze-based driver detection using primary preview regions, accordingto some example embodiments. The database schema 900 includes a PPPtable 905, a PPR table 920, an attention level table 935, and a drivertable 950. The PPP table 905 uses a table definition 910 and includesrows 915A, 915B, and 915C. The PPR table 920 uses a table definition 925and includes rows 930A, 930B, and 930C. The attention level table 935uses a table definition 940 and includes rows 945A, 945B, and 945C. Thedriver table 950 uses a table definition 955 and includes rows 960A and960B.

Each of the rows 915A-915C of the PPP table 905 stores information for aPPP. According to the table definition 910, each of the rows 915A-915Cincludes an identifier, a location, and a type. The identifier may be aunique identifier for the PPP and may be used to relate informationstored in different tables. The location may be a 2D or 3D locationstored using relative or absolute positioning (e.g., latitude,longitude, and elevation). In the example PPP table 905, the positionsare stored as 3D locations using relative positioning from the frontcenter of the vehicle, measured in meters. The type indicates whetherthe PPP represents a vehicle, a curve, a sign, a vanishing point, ananimal, a pedestrian, or any other type of point to which the drivershould pay attention.

Each of the rows 930A-930C of the PPR table 920 stores information for aPPR. According to the table definition 925, each of the rows 930A-930Cincludes an identifier, a relative PPP location, and a size. In someexample embodiments, each PPR corresponds to exactly one PPP, allowingthe same identifier to be used for the PPR and its corresponding PPP.The relative PPP location indicates the position of the PPP within thePPR. The relative PPP location may be stored as a type indicator asshown in the example PPR table 920, indicating whether the PPP islocated at the center or edge (e.g., the edge closest to the driver'svehicle or the edge at the front of a direction of movement of the PPP).Alternatively, the relative PPP location may be stored as a 2D or 3Doffset from the center of the PPR. The size stores the size of the PPR,for example by providing a radius of a sphere or circle. Alternatively,the size may store a bounding box or bounding cube for the PPR.

The attention level table 935 stores the rows 945A-945C, each of whichincludes an identifier, an attention level, a gaze status, a time oflast attention change, and a transition attention level. The identifierindicates the identifier of the PPR to which the attention level data ofthe row applies. The attention level indicates the current attentionlevel for the corresponding PPR. The gaze status indicates whether thedriver's gaze point is currently in the PPR. The time of last attentionchange indicates the time at which the driver's gaze point last enteredor left the PPR. The transition attention level indicates the transitionlevel for the PPR at the time of last attention change. In exampleembodiments in which Equations 1 and 2 are used to determine thedriver's attention level, the equation to use may be selected based onthe gaze status, the time of last attention change may be used as thevalue for to, and the transition attention level may be used as thevalue for S_(v)(t₀).

The driver table 950 stores the rows 960A-960B, each of which includes aBoolean value indicating whether the driver is currently active, set toTrue if the row stores data for the current driver and False otherwise,and a reaction coefficient for the driver. Additional data may be storedin the driver table 950. For example, a photo of the driver may bestored so that the driver can be identified by image recognition basedon one or more images captured by the driver-facing camera 140. Inexample embodiments in which Equations 1 and 2 are used to determine thedriver's attention level, the driver's reaction coefficient may be usedas the value for k.

FIG. 10 is a flowchart illustration of a method 1000 of gaze-baseddriver detection using primary preview regions, according to someexample embodiments. The method 1000 includes operations 1010, 1020,1030, and 1040. By way of example and not limitation, the method 1000 isdescribed as being performed by elements of the computer 800, describedabove with respect to FIG. 8, integrated into a vehicle (e.g., a vehicleincluding the windshield 110 and the driver-facing camera 120 of FIG.1).

In operation 1010, the PPR detection module 865 determines a PPR in arepresentation of an environment. For example, an object identificationalgorithm may identify an object depicted in an image of an environmentand determine a PPP for the object. Based on the PPP and aclassification of the object, the PPR in the representation of theenvironment may be determined. In some example embodiments, the PPR foran object is the bounding box for the object. In other exampleembodiments, the PPR is a cube or sphere centered on the object.

In operation 1020, the gaze detection module 860 determines a gaze pointfor a driver based on an image of the driver. For example, the image ofthe driver may depict the pupils of the driver's eyes as well as thedriver's head. Using calibration data or statistical data, the center ofthe driver's eyes may be estimated and a ray may be determined for eacheye that has its origin in the center of the eye and passes through thepupil of the eye. The point at which the rays intersect is the driver'sthree-dimensional gaze point. To determine the two-dimensional gazepoint, a ray is generated with its origin at the midpoint between thetwo eyes and terminating at the three-dimensional gaze point. Theintersection of this ray with a two-dimensional projection of an imageof an environment is the driver's two-dimensional gaze point.

In operation 1030, the attention analysis module 870 determines that thegaze point is outside of the PPR. For example, the 3D gaze point may becompared with the volume of a 3D PPR to determine if the gaze point iswithin or outside of the PPR. As another example, the 2D gaze point maybe compared with the area of a 2D PPR to determine if the gaze point iswithin or outside of the PPR.

In operation 1040, the attention analysis module 870, based on thedetermined gaze point being outside of the PPR, decreases an attentionlevel for the PPR. For example, whether the driver's gaze is within thePPR may be used to adjust the attention level for the PPR as shown inFIG. 5.

In operation 1050, the attention analysis module 870 generates an alertbased on the attention level for the PPR and a predetermined threshold.For example, using a normalized attention level with a range from 0 to1, the predetermined threshold may be 0.2. If the attention level forthe PPR falls below the predetermined threshold, an alert is generated.

Using the method 1000, a driver is alerted when the attention level fora detected object is insufficient. By repeating the operations 1020-1040for all detected objects, the driver is alerted if any object is notpaid sufficient attention. For example, in a complex situation involvingmultiple vehicles, animals, signs, and curves, a driver mayinadvertently focus excessively on a subset of the PPRs needingattention. In this situation, the method 1000 will provide an alertregarding the PPRs being ignored, possibly preventing an accident.

FIG. 11 is a flowchart illustration of a method 1100 of gaze-baseddriver detection using primary preview regions, according to someexample embodiments. The method 1100 includes operations 1110, 1120,1130, 1140, 1150, 1160, and 1170. By way of example and not limitation,the method 1100 is described as being performed by elements of thecomputer 800, described above with respect to FIG. 8, integrated into avehicle (e.g., the vehicle 200 including the windshield 310 and thedriver-facing camera 140 as shown in FIGS. 1-3).

In operation 1110, the PPR detection module 865 identifies a PPP from animage of an environment (e.g., an image captured by a front-facingcamera). For example, a trained machine learning algorithm may take theimage as an input image and identify a location and class of an objectdepicted in the image.

In operation 1120, the PPR detection module 865 constructs a PPR on theimage for all PPPs based on their characteristic parameters. Thecharacteristic parameters may be accessed from a database based on theclass of the object associated with the PPP. For example, a PPRgenerated from a PPP associated with a large vehicle class may be largerthan a PPR generated from a PPP associated with a small animal class.

In operation 1130, the PPR detection module 865 updates PPRs and removesdisappeared PPRs using a tracking process. The tracking process tracksthe object from one image to another so that as the object movesrelative to the camera capturing the images, the object is maintained asa single object rather than being treated as a distinct object in eachimage. Thus, the PPRs for moving objects are maintained, and anypreviously-stored PPRs for objects no longer viewed are removed.

In some example embodiments, the PPR detection module 865 estimates afuture path using vehicle and road information. For example, the vehiclespeed, current direction, lane, turn signal, and angle of the steeringwheel may be used to determine an estimated future path for the vehicle.The PPR detection module 865 may determine that a PPR is not along thefuture path and, based on the determination that the first PPR is notalong the future path, remove the first PPR. For example, a PPR for abicycle to the left of the vehicle that is heading away from the vehiclemay be determined to not be on the path of the vehicle when the vehicleis in a right-turn lane with right-turn signal activated. As a result,the PPR for the bicycle may be deleted, such that no alert will begenerated even if the driver never focuses on the bicycle.

In operation 1140, the gaze detection module 860 estimates the driver'sgaze point and superposes the gaze point on a representation of theenvironment (e.g., the image of the environment or a 3D representationof the environment generated from the image of the environment and otherdata). This superposition enables, in operation 1150, the attentionanalysis module 870 to determine which PPRs, if any, the driver iscurrently focusing on. In operation 1150, the attention analysis module870 updates the attention level for each PPR based on the determinationof the driver's focus (e.g., increasing the attention level for a PPRthe driver is focusing on and decreasing the attention level for allother PPRs).

In some example embodiments, a gaze region is used instead of a gazepoint. The gaze region may be defined as a circle or sphere centered onthe gaze point with a radius determined based on a mean error for theestimation of the gaze point. In some example embodiments, the gazeregion is defined as an ellipse centered on the gaze point with majorand minor radii determined based on directional mean errors (e.g., yawand pitch mean errors) for the estimation of the gaze point.

In operation 1160, the attention analysis module 870 determines if anyPPRs have attention levels that have fallen below a predeterminedthreshold. For each PPR for which the attention level has fallen belowthe predetermined threshold, the attention analysis module 870, inoperation 1170, triggers a distraction state and takes actions thatresult from the distraction state. For example, an alert may begenerated. After operation 1170 is performed (or skipped, if no PPRshave attention levels that are below the predetermined threshold), themethod 1100 continues by returning to operation 1110 and repeating themethod 1100 with updated image data. For example, the method 1100 may beperformed every 200 ms to monitor the driver's attention level.

FIG. 12 is a flowchart illustration of a method 1200 of gaze-baseddriver detection using primary preview regions, according to someexample embodiments. The method 1200 includes operations 1210, 1220,1230, 1240, 1250, 1260, 1270, and 1280. By way of example and notlimitation, the method 1200 is described as being performed by elementsof the computer 800, described above with respect to FIG. 8, integratedinto a vehicle (e.g., the vehicle 200 including the windshield 310 andthe driver-facing camera 140 as shown in FIGS. 1-3). The method 1200 isan example implementation of the operation 1150 of the method 1100.Additionally or alternatively, the method 1200 may be executedperiodically (e.g., every 100 ms).

In operation 1210, the attention analysis module 870 initializes a loopvariable, i, to 0. In operation 1220, the attention analysis module 870increments the loop variable.

In operation 1230, the attention analysis module 870 determines if thecurrent PPR (corresponding to the loop variable i) encompasses thedriver's gaze point. If the current PPR does encompass the driver's gazepoint, the method 1200 continues with operation 1240. Otherwise, themethod 1200 continues with operation 1260.

In operation 1240, the attention analysis module 870 updates recoveryfunction parameters for the current PPR. For example, using Equation 2(described above with respect to FIG. 5) as the recovering function, thevalue of (t-t₀), the length of time the driver has continuously gazed atthe PPR, may be updated. In operation 1250, the attention analysismodule 870 re-evaluates the recovery function, increasing the attentionlevel for the PPR.

In operation 1260, performed if the driver's gaze point is not withinthe current PPR, the attention analysis module 870 updates decayfunction parameters for the current PPR. In some example embodiments,the decay function parameters are the same as the recovery functionparameters. Alternatively, the recovery function and the decay functionmay be distinct equations with distinct parameters. In operation 1270,attention analysis module 870 carries out attention decay for thecurrent PPR. Thus, the attention level for the PPR is decreased.

After the performance of operation 1250 or operation 1270, the attentionanalysis module determines if all PPRs have been evaluated (operation1280). If some PPRs remain, control returns to operation 1220. Thus, theattention level for all PPRs will be updated by execution of the method1200. Once all PPRs have ben processed, the method 1200 completes andattention levels for all PPRs have been updated.

FIG. 13 is a flowchart illustration of a method 1300 of transferringcontrol of an automated vehicle to a human driver, according to someexample embodiments. The method 1300 includes operations 1310, 1320, and1330. By way of example and not limitation, the method 1300 is describedas being performed by elements of the computer 800, described above withrespect to FIG. 8, integrated into a vehicle (e.g., the vehicle 200including the windshield 310 and the driver-facing camera 140 as shownin FIGS. 1-3).

In operation 1310, the control transfer module 875 receives a request totransfer control of an automated vehicle to a human driver. For example,the driver may press a button on a steering wheel, issue a voicecommand, tap a brake pedal, or otherwise indicate to the automatedvehicle that the driver wishes to take control.

In operation 1320, the control transfer module 875 confirms that thehuman driver is attentive to all PPRs. The confirmation may be realizedthrough communication with the attention analysis module 870. Forexample, the driver's attention level to all PPRs may be determined fora predetermined period of time (e.g., 15 seconds). If, during thepredetermined period of time, no attention level is allowed to fallbelow a threshold at which an alert is generated, the method 1300continues with operation 1330. Otherwise, the predetermined period oftime is restarted and monitoring of the driver's attention level to allPPRs is resumed. In some example embodiments, the method 1300 isterminated if the driver's attention level to any PPR is insufficient.

In operation 1330, the control transfer module 875 transfers control ofthe vehicle to the human driver in response to the request and based onthe confirmation. The transfer of control may include disengagingautomatic control of the vehicle, providing an alert to the driverindicating that manual control has been engaged, or any suitablecombination thereof.

Use of the method 1300 may improve the safety of transferring control ofan automated vehicle to a human driver by ensuring that the driver ispaying adequate attention to the road and any obstacles or hazards.Additionally, use of the method 1300 may avoid accidental transfer ofcontrol (e.g., by the driver accidentally pressing a button or otherwiseproviding a transfer control request), since the accidental request isunlikely to be accompanied by sufficient attention from the driver.

Although a few embodiments have been described in detail above, othermodifications are possible. For example, the logic flows depicted in thefigures do not require the particular order shown, or sequential order,to achieve desirable results. Other steps may be provided in, or stepsmay be eliminated from, the described flows, and other components may beadded to, or removed from, the described systems. Other embodiments maybe within the scope of the following claims.

1. A method of transferring control of an automated vehicle to a humandriver comprising: receiving, by one or more processors, a request fortransferring control of an automated, vehicle to a human driver;determining, by the one or more processors, that the human driver isattentive to a primary preview region (PPR); and transferring, by theone or more processors, control of the automated vehicle to the humandriver based on the human driver being attentive to the PPR.
 2. Themethod of claim 1, further comprising: determining the PPR in arepresentation of an environment; and determining a gaze point for thehuman driver based on a sequence of images of the human driver; whereinthe determining that the human driver is attentive to the PPR is basedon the gaze point being inside of the PPR.
 3. The method of claim 1,further comprising: determining the PPR in a representation of anenvironment; determining a gaze point for the human driver based on asequence of images of the human driver; determining that the gaze pointis outside of the PPR; based on the gaze point being outside of the PPR,decreasing an attention level for the PPR; and based on the attentionlevel for the PPR, generating an alert.
 4. The method of claim 1,wherein: the determining that the human driver is attentive to the PPRis part of determining that the human driver is attentive to each of aplurality of PPRs; and the transferring of the control of the automatedvehicle to the human driver is further based on the human driver beingattentive to each other PPR of the plurality of PPRs.
 5. The method ofclaim 4, further comprising: determining a priority score for each PPRof the plurality of PPRs; and wherein an attention level for each PPR ofthe plurality of PPRs is based on the priority score for the PPR.
 6. Themethod of claim 1, further comprising: identifying, by one or moreprocessors, an object depicted in a representation of an environment;and wherein the determining of the PPR comprises determining the PPR forthe object.
 7. The method of claim 6, wherein the determining of the PPRfor the object comprises determining a velocity of the object.
 8. Themethod of claim 1, wherein the transferring of the control of theautomated vehicle to the human driver comprises disengaging automaticcontrol of the automated vehicle.
 9. The method of claim 1, wherein thetransferring of the control of the automated vehicle to the human drivercomprises providing an alert to the human driver indicating that manualcontrol has been engaged.
 10. The method of claim 1, wherein thereceiving of the request to transfer control comprises detecting abutton press on a steering wheel of the automated vehicle.
 11. Themethod of claim 1, wherein the receiving of the request to transfercontrol comprises detecting a tap on a brake pedal of the automatedvehicle.
 12. The method of claim 1, wherein the receiving of the requestto transfer control comprises detecting a voice command.
 13. A systemfor transferring control of an automated vehicle to a human drivercomprising: one or more processors; and memory that stores instructionsthat, when executed by the one or more processors, cause the one or moreprocessors to perform: receiving a request for transferring control ofan automated vehicle to a human driver determining that the human driveris attentive to a primary preview region PPR), and transferring controlof the automated vehicle to the human driver based on the human driverbeing attentive to the PPR.
 14. The system of claim 13, wherein theinstructions further cause the one or more processors to perform:determining the PPR in a representation of an environment; anddetermining a gaze point for the human driver based on a sequence ofimages of the human driver; wherein the determining that the humandriver is attentive to the PPR is based on the gaze point being insideof the PPR.
 15. The system of claim 13, wherein the instructions furthercause the one or more processors to perform: determining the PPR in arepresentation of an environment; determining a gaze point for the humandriver based on a sequence of mages of the human driver; determiningthat, the gaze point is outside of the PPR; based on the gaze pointbeing outside of the PPR, decreasing an attention level for the PPR; andbased on the attention level for the PPR, generating an alert.
 16. Thesystem of claim 13, wherein: the determining that the human driver isattentive to the PPR is part of determining that the human driver isattentive to each of a plurality of PPRs; and the transferring of thecontrol of the automated vehicle to the human driver is further based onthe human driver being attentive to each other PPR of the plurality ofPPRs.
 17. The system of claim 16, wherein the instructions further causethe one or more processors to perform: determining a priority score foreach PPR of the plurality of PPRs; and wherein an attention level foreach PPR of the plurality of PPRs is based on the priority score for thePPR.
 18. A non-transitory computer-readable medium storing computerinstructions for detecting distracted driving, that when executed by oneor more processors, cause the one or more processors to perform stepsof: receiving a request for transferring control of an automated vehicleto a human driver; determining that the human driver is attentive to aprimary preview region (PPR); and transferring control of the automatedvehicle to the human driver based on the human driver being attentive tothe PPR.
 19. The non-transitory computer-readable medium of claim 18,wherein the steps further comprise: identifying, by one or moreprocessors, an object depicted in a representation of an environment;and wherein the determining of the PPR comprises determining the PPR forthe object.
 20. The non-transitory computer-readable medium of claim 19,wherein the determining of the PPR for the object comprises determininga velocity of the object.